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6DOF platform with small DC motors

Discussion in 'DIY Motion Simulator Projects' started by hooshang, Jul 15, 2014.

  1. hooshang

    hooshang Active Member

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    My Motion Simulator:
    2DOF, DC motor, AC motor, Arduino, 6DOF
    here is my 6 dof project ,I have finished finally this week.first im going to
    thanks @Historiker ,@eaorobbie ,@RufusDufus ,@RaceRay and many others
    in the community.
    the electronics ive used are 2 Arduino uno with SMC3 and 3 TB6612FNG dual
    driver from Pololu and six chip single turn pots and 6 motors are small dc 12 v and 10 RPM
    and dimentions: 300 mm * 300 mm * 190 mm

    2014-07-14 09.58.13.jpg
    2014-07-14 12.41.31.jpg

    2014-07-14 16.25.40.jpg

    2014-07-14 19.39.58.jpg
    motors lever arms are 25 mm and the rods are 150 mm
    so base on the platform design It moves,
    Roll = ±20
    Pitch= ±20
    Yaw= ±35
    Heave= 45 mm
    Sway= 60 mm
    Surge= 60 mm
    and a short video here:

    very welcome to any questions and ideas
    regards
    Hooshang
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    Last edited: Jul 15, 2014
  2. Pit

    Pit - - - - - - - - - - - - - - - - Staff Member Moderator Gold Contributor

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    My Motion Simulator:
    DC motor, Arduino, 6DOF
    Great work!!
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  3. hooshang

    hooshang Active Member

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    My Motion Simulator:
    2DOF, DC motor, AC motor, Arduino, 6DOF
    thank you @Pit you are also part of this:cheers
  4. tronicgr

    tronicgr

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    Where is the COG (Center Of Gravity) point located? Can you adjust it to certain X,Y,Z position?

    From the video it looks like its located right on the surface of the top platform. Shouldn't it be higher? Near the "driver's" chest perhaps?

    Great work btw...
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  5. bsft

    bsft

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    if the driver is a hamster then yes. Its a scale model from what I can see.
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  6. tronicgr

    tronicgr

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    The hamster would get motion sickness in that case...
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  7. hooshang

    hooshang Active Member

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    My Motion Simulator:
    2DOF, DC motor, AC motor, Arduino, 6DOF
    thank you @tronicgr for posting and great to have you here with
    lots of experience and your inspiral works you have done on 6dof.
    yes, the COG should be higher of course but could you give advice
    how to adjust it
    thank you friend
    Hooshang
  8. tronicgr

    tronicgr

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    I'm not sure how you can adjust it with your setup. Does it even support this?

    Anyway, you can see here what happens to the motion for Pitch/Roll when you adjust the COG:





    PS... why the "dislike? here??? LOL
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    Last edited by a moderator: Jul 17, 2014
  9. hooshang

    hooshang Active Member

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    2DOF, DC motor, AC motor, Arduino, 6DOF
    @tronicgr
    this is about some dimentions and parameters and we are working on a DIY project
    so it does support any possiblity
    I just tried to copy something like this.do you think if iam close?.

    thank you friend & regards
    Hooshang
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  10. hooshang

    hooshang Active Member

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    My Motion Simulator:
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    hello mates
    after a little changes on motors arm setup here is the first test with FSX,it can be better and smoother next time for sure

    welcome to any idea friends
    regards
    Hooshang
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  11. hooshang

    hooshang Active Member

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    My Motion Simulator:
    2DOF, DC motor, AC motor, Arduino, 6DOF
    just look at this:)
    first test with race 07 ,took a few minutes on Simtools setting
    and just more than expected

    regards
    Hooshang
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  12. tronicgr

    tronicgr

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    Its wonderful Hooshang. It will make your hamster happy :popcorn
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  13. hooshang

    hooshang Active Member

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    My Motion Simulator:
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    hi
    this is the first time I confront with the YAW and I just realize at special
    point(direction)in the game the YAW's value change to minus or vice versa in tuning center, and this suddenly resault an unwanted movement ,so how can I control this?
    thank you freinds
    regards
    Hooshnag
    Last edited: Jul 17, 2014
  14. BlazinH

    BlazinH Well-Known Member

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    Hi hooshang , Nice working model you made! May I point out however that your “hamster” would indeed get motion sickness when driving the formula car because the sway motion is reversed from what it should be. You just need to invert the sway axis with simtools though. If your sway is correct then you need to reduce the roll axis some. At least it appears that way to me. Sway is the opposite direction of roll.

    On your yaw issue this has been discussed here before. All axis will “flip” around with FSX at some point because the output is the same as you would see on an instrument panel. As far as I know a solution has not been offered here yet. But you don’t need to use direct output of yaw anyway since you are not doing a 360 degree sim. You really just need to use the yaw acceleration rate. You can calculate this yourself by taking the previous yaw reading and subtracting the latest reading. This will give you the rate of change. You should be able to do this satisfactorily on your microcontroller if you are using a high enough output resolution in simtools. If the timing does not stay perfectly consistent from reading to reading though, you may have to take an average of a few readings instead which may cause a slight delay in its output. You will also need to test in code for the point at witch the flip occurs so you can make the proper adjustments to your math so the acceleration rate stays accurate.
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  15. hooshang

    hooshang Active Member

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    My Motion Simulator:
    2DOF, DC motor, AC motor, Arduino, 6DOF
    Hi @BlazinH
    well, about sway I am not realy sure that you are correct,may I ask you watch the video again and tell
    me if I should invert the sway !
    and about the YAW thank you for information.i just got the point but still not the solution.
    think if I did the math and find the rate of change but I don't understand where can I put it or what should I do with this next,
    would you please give more information about the role of microcontroller and simtools resolution
    and also relations,
    many thanks for sharing informations.
    regards friend
    Hoosnag
  16. bsft

    bsft

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    the sway looks fine to me
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  17. eaorobbie

    eaorobbie Well-Known Member Staff Member SimTools Developer Gold Contributor

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    My Motion Simulator:
    2DOF, DC motor, JRK, SimforceGT, 6DOF
    The easiest way to do this is to tune by only using one DOF on each actuator so lets say your testing Sway , in the axis Assignment's only set Sway with a % and "-" null the others then test in game. To lets say increase/speedup the motion you can then just tune the Min Max in the tuning centre , once happy with direction and movements , you can move on and test the rest the same way then once finished mix them all in, this will give you a good base profile then by using the Game Manager you can tune the profile per car, etc and even save them and access them with speed.
  18. hooshang

    hooshang Active Member

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    My Motion Simulator:
    2DOF, DC motor, AC motor, Arduino, 6DOF
    thank you @bsft ,@eaorobbie guys for comments,
    iam still alittle mix up with YAW ,I got the point and why flip the value at the special direction from @BlazinH ,but
    how to solve this and make it like a reasonable movement in the sim rig.
    well here is another short video after some effort on tuning values for different axes
    and I think get better result

    thank you friends
    Hooshang
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  19. kermit76

    kermit76 New Member

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    Wauw great work!
    I hope to build somthing like that one day.
    Do you have some information where to start for me?
  20. hooshang

    hooshang Active Member

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    My Motion Simulator:
    2DOF, DC motor, AC motor, Arduino, 6DOF
    @kermit76
    thank you freind
    first start with 2dof sim and learn the concept of simtools and relation
    with hardwares then go for more dof ,
    goodluck mate
    regards
    Hooshang
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